System and method for handling wind turbine components for assembly thereof

Abstract

A method of handling a wind turbine component ( 54 ) for assembly or maintenance, comprises coupling one or more unmanned air vehicles ( 20 ) with the wind turbine component ( 54 ) so that at least a portion of the weight of the wind turbine component ( 54 ) can be supported and lifted by the one or more unmanned air vehicles ( 20 ). The method further comprises coupling one or more cranes ( 50 ) with the wind turbine component ( 54 ) so that at least a portion of the weight of the wind turbine component ( 54 ) can be supported and lifted by the one or more cranes ( 50 ). The method further comprises controlling the one or more unmanned air vehicle ( 20 ) and crane ( 50 ) in coordination to lift the wind turbine component ( 54 ) and manoeuvre said component ( 54 ) with respect to a wind turbine ( 52 ).

The invention claimed is: 
     
       1. A method of handling a wind turbine component for assembly or maintenance, the method comprising:
 coupling one or more unmanned air vehicle with the wind turbine component so that at least a portion of the weight of the wind turbine component can be supported and lifted by the one or more unmanned air vehicle; 
 coupling one or more crane with the wind turbine component so that at least a portion of the weight of the wind turbine component can be supported and lifted by the one or more crane, wherein the one or more crane is mounted to a nacelle of a wind turbine; and 
 controlling the one or more unmanned air vehicle and crane in coordination to lift the wind turbine component and manoeuvre said component with respect to the wind turbine, 
 wherein the one or more crane is attached to the component at a first position on the component and the one or more unmanned air vehicle is attached to the component at a second position on the component spaced from the first position. 
 
     
     
       2. The method of  claim 1 , wherein the unmanned air vehicle supports the component by way of a lifting device such that the unmanned air vehicle can support the component from above. 
     
     
       3. The method of  claim 1 , wherein the one or more crane supports the component by way of a hook, clamp or sling. 
     
     
       4. The method of  claim 1 , comprising coupling a plurality of unmanned air vehicles to the component. 
     
     
       5. The method of  claim 1 , comprising mounting the one or more crane to the wind turbine using one or more unmanned air vehicles. 
     
     
       6. The method of  claim 1 , wherein the at least one crane supports at least 50% of the weight of the component during handling thereof. 
     
     
       7. The method of  claim 1 , wherein the relative positions of the unmanned air vehicle and crane are coordinated so that the wind turbine component is lifted in a predetermined orientation. 
     
     
       8. The method of  claim 1 , wherein one of either the unmanned air vehicle or crane is designated a master device, the other of the unmanned air vehicle or crane being slave device, whereby the relative positions of the slave device are coordinated with that of the master device. 
     
     
       9. The method of  claim 8 , wherein the master device sends signals to the slave device to coordinate movement thereof. 
     
     
       10. The method of  claim 1 , wherein the wind turbine component is a wind turbine blade. 
     
     
       11. The method of  claim 1 , further including guiding the component to the wind turbine using a guidance system. 
     
     
       12. The method of  claim 11 , wherein the guidance system is an optical guidance system, a radar-based guidance system or a lidar based guidance system. 
     
     
       13. A method of installing a crane on to a wind turbine comprising:
 coupling an unmanned air vehicle with the crane; 
 using the unmanned air vehicle to lift the crane to be mounted to the wind turbine; and 
 mounting the crane to the wind turbine. 
 
     
     
       14. A system for handling a component of a wind turbine, comprising:
 an unmanned air vehicle; 
 a crane attached to a nacelle of the wind turbine; 
 one or more coupling means configured to couple the unmanned air vehicle and the crane to the component such that at least a portion of the weight of the wind turbine component can be supported and lifted by each of the one or more unmanned air vehicle and one or more crane and such that operation of the unmanned air vehicle and crane causes movement of the component; and 
 a control means to control the unmanned air vehicle and the crane in coordination so as to manoeuvre the component, 
 wherein the crane is configured to be attached to the component at a first position on the component and the unmanned air vehicle is configured to be attached to the component at a second position on the component spaced from the first position. 
 
     
     
       15. The system of  claim 14 , comprising a control station computer system for controlling movement of the unmanned air vehicle and/or crane. 
     
     
       16. The system of  claim 14 , wherein the unmanned air vehicle is configured to implement autonomous flight routines. 
     
     
       17. The system of  claim 14 , wherein one of the unmanned air vehicle or crane is configured as a master device, and the other of the unmanned air vehicle or crane is configured as a slave device, wherein the slave device coordinates its movement with the movement of the master device. 
     
     
       18. The system of  claim 14 , further comprising a guidance system associated with the wind turbine component, wherein the guidance system is adapted to communicate with the unmanned air vehicle and or crane in order to guide the wind turbine component towards a target position. 
     
     
       19. The system of  claim 18 , wherein the guidance system includes one or more of an optical guidance system, a radar-based guidance system or a lidar based guidance system. 
     
     
       20. The system of  claim 14 , wherein the unmanned air vehicle is electrically powered. 
     
     
       21. The method of  claim 1 , wherein the first position on the component and the second position on the component are on opposing sides of a center of gravity of the component. 
     
     
       22. The system of  claim 14 , wherein the first position on the component and the second position on the component are on opposing sides of a center of gravity of the component.